CN112490057A - Earthing knife-switch operating mechanism - Google Patents
Earthing knife-switch operating mechanism Download PDFInfo
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- CN112490057A CN112490057A CN202011414904.0A CN202011414904A CN112490057A CN 112490057 A CN112490057 A CN 112490057A CN 202011414904 A CN202011414904 A CN 202011414904A CN 112490057 A CN112490057 A CN 112490057A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H31/00—Air-break switches for high tension without arc-extinguishing or arc-preventing means
- H01H31/02—Details
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H31/00—Air-break switches for high tension without arc-extinguishing or arc-preventing means
- H01H31/003—Earthing switches
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The application discloses a grounding disconnecting link operating mechanism which comprises a lifting assembly and an operating assembly; the operating assembly comprises a ground knife pressing plate and a floating operating head; the ground knife pressing plate is fixed on the lifting assembly; the floating operating head is arranged on the lifting component in a way of extending along the direction of the operating knife switch relative to the lifting component and realizing rotary operation to the knife switch. The beneficial effect of this application: utilize the linkage of a plurality of degree of freedom subassembly mechanisms, carry on operation and patrol and examine the robot that the function is as an organic whole, realized need not manual operation, can whole scheme by the machine completion, the traditional a set of operation task multiple spot of optimization transformer substation deploys the mode of operation of maintaining, and the long-range deployment of accessible is controlled, and is high-efficient, the accurate high risk live working of accomplishing.
Description
Technical Field
The application relates to an electricity cabinet remote operation technical field especially relates to a ground connection switch operating device.
Background
At present, substation operation and maintenance personnel undertake substation operation tasks of the area, but with the enlargement of the scale of a power grid, the operation frequency is increased, the personnel-to-station ratio is reduced, the per-person workload is continuously increased, and the operation frequency and the safety risk are increased. And the operation to ground connection switch in the market is mostly manual operation, is mostly the hexagonal head that an L type action bars rotated ground sword or handcart mostly, and on not being used for operating the robot, can accomplish the mechanism of ground sword operation automatically.
The robot integrating the operation function and the inspection function can optimize the working mode of multi-point deployment operation and maintenance of a group of traditional operation tasks of a transformer substation, huge benefits are brought in the aspects of provincial inspection, city inspection, reasonable planning of operation tasks of a power distribution network, overall optimization of operation steps and operation response time through research and development of the operation robot, and high-risk live working is efficiently and accurately completed through remote deployment control.
Disclosure of Invention
In order to solve the above technical problem, an embodiment of the present invention provides a grounding switch operating mechanism, which is mounted on an electric cabinet grounding switch operating mechanism on an operating robot, and is used for operating a grounding switch when a switching operation of the operating robot is completed.
The technical scheme is as follows:
a grounding switch operating mechanism comprises a base assembly, a lifting assembly and an operating assembly, and is characterized in that the operating assembly comprises a grounding knife pressing plate and a floating operating head; the ground knife pressing plate is fixed on the lifting assembly; the floating operating head is arranged on the lifting component in a way of extending along the direction of the operating knife switch relative to the lifting component and realizing rotary operation to the knife switch.
Furthermore, the operating assembly also comprises an operating cylinder shell and an elastic component, and the elastic component is arranged between the floating operating head and the operating cylinder shell, so that the floating operating head can realize telescopic motion along the direction of the operating knife switch.
Further, the operating assembly further comprises a motor and a speed reducing mechanism, and the motor controls the rotating operation of the floating operating head through the speed reducing mechanism.
Further, the speed reducing mechanism is a harmonic speed reducer.
Further, the operating assembly further comprises a torque sensor disposed at an output end of the speed reducing mechanism.
Further, the operating assembly further comprises a telescopic assembly; the telescopic assembly comprises a telescopic driving motor and a screw rod nut mechanism; the floating operating head is fixed with a nut in the feed screw nut mechanism; the telescopic driving motor controls the screw rod in the screw rod nut mechanism to rotate so as to realize the axial telescopic motion of the floating operating head and the nut in the screw rod nut mechanism together along the screw rod.
Further, the device also comprises an elastic operating rod; a nut in the feed screw nut mechanism is connected with the elastic operating rod through a flat key; the floating operating head is arranged at the end part of the elastic operating rod.
Further, the elastic operating rod comprises an inner spline and an outer spline; the internal spline is connected with a nut in the feed screw nut mechanism through a flat key; the floating operating head is arranged at the end part of the internal spline; the end of the external spline is connected with a torque sensor.
Furthermore, a transmission mechanism is arranged between the telescopic driving motor and the screw rod nut mechanism; the transmission mechanism transmits the rotating speed and the torque of the telescopic driving motor to a screw rod in the screw rod nut mechanism.
Further, the transmission mechanism is arranged in a manner that a gear and a toothed belt are in matched transmission.
Furthermore, an endoscope is arranged at the output end of the elastic operating rod and used for feeding back the positions of the floating operating head and the knife switch.
Further, still include the clamp plate support, the clamp plate support passes through the bearing setting on the elastic operation pole, and the ground sword clamp plate sets up on the clamp plate support.
Further, the device also comprises a pressing plate guide assembly used for guiding the ground knife pressing plate and the floating operating head in the telescopic process.
Further, clamp plate direction subassembly includes guide bar and guide way, guide bar and ground sword clamp plate fixed connection, and the guide way setting is on operation section of thick bamboo shell, and the guide bar plays the guide effect with the guide way cooperation.
Furthermore, the elastic operating rod also comprises a slip ring used for routing the line of the endoscope.
Furthermore, the lifting assembly comprises a lifting screw rod and a lifting transmission mechanism; the lifting screw rod is vertically arranged; the lifting transmission mechanism is respectively connected with the lifting screw rod and the operation assembly to control the operation assembly to move along the opening and closing direction of the knife gate.
Furthermore, the lifting transmission mechanism comprises a lifting motor and a gear transmission pair, the gear transmission pair comprises a driving wheel and a lifting large gear which are meshed with each other, the driving wheel is connected with the output end of the lifting motor through a flat key, and the lifting large gear is connected with the lifting screw rod through a ball spline; the output end of the lifting motor is connected with the driving wheel through a flat key, and the driving operation assembly is driven to move up and down along the lifting screw rod.
Furthermore, a lifting calibration ring is arranged at the top end of the lifting screw rod; a lifting proximity switch is arranged at the top of the lifting large gear; the lifting calibration ring is used as a calibration object of the lifting proximity switch.
Further, the brake is arranged on the lifting motor, when the equipment is powered on, the brake controls the operation assembly to lift along the lifting screw rod under the control of the lifting motor, and when the equipment is powered off, the brake locks the operation assembly to prevent the operation assembly from descending along the screw rod under the action of gravity.
Furthermore, a middle rack body is arranged on the lifting screw rod and used for connecting the lifting assembly and the operation assembly; the middle rack body is connected with the lifting screw rod through a ball spline.
Furthermore, a depth camera is arranged on the shell of the operation cylinder and used for feeding back the position information of the telescopic assembly.
Furthermore, the lifting assembly also comprises a rotating assembly, and the rotating assembly is used for controlling the lifting assembly and the operating assembly to rotate along a vertical axis which is vertical to the ground and is used as a rotating shaft.
Furthermore, the rotating assembly adopts a rotary driving motor and a gear transmission pair, and the gear transmission pair comprises a rotary gear and a rotary large gear which are meshed with each other; the rotary large gear is fixedly connected with the middle table frame body through a bolt; the axle center of the rotary big gear wheel is connected with the lifting screw rod through a spline, and the rotary big gear wheel and the spline are fixed through a bolt.
Further, the rotating assembly further comprises a mounting frame, and the mounting frame comprises a motor mounting frame used for mounting the rotary driving motor and a rotary gear fixing seat used for mounting the rotary gear.
Furthermore, a limit stop is arranged at the bottom of the rotary gear fixing seat; and limiting blocks are arranged on two sides of the rotary big gear and matched with the limiting stop blocks for limiting the rotation angles of the two sides of the rotary big gear.
Furthermore, the rotary big gear adopts a double-gear structure to form an anti-backlash gear; in the rotating process of the anti-backlash gear, the limit stop is used for limiting the rotating angle of the anti-backlash gear.
The base translation assembly comprises a base frame body, a translation transmission mechanism and a driving motor; the translation transmission mechanism is used for controlling the translation motion of the base frame body; the output end of the driving motor is connected with the input end of the translation transmission mechanism.
Furthermore, the translation transmission mechanism adopts a ball screw pair, and the ball screw pair is positioned at the bottom of the base frame body and used for controlling the movement of the base frame body; the output end of the driving motor is connected with the input end of the ball screw pair through the coupler.
Further, the elastic component is a spring.
In this application embodiment, utilize the linkage of a plurality of degree of freedom subassembly mechanisms, carry on the robot that the function is as an organic whole is operated and patrolled and examined, realized need not manual operation, can be whole by the scheme of machine completion, optimize the traditional a set of operation task multiple spot of transformer substation and deploy the mode of operation maintenance, the long-range deployment of accessible is controlled, and is high-efficient, the accurate high risk live working of accomplishing.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a three-dimensional complete machine provided in an embodiment of the present application;
FIG. 2 is a schematic view of another angle of FIG. 1;
FIG. 3 is a schematic structural view of the base translation assembly;
FIG. 4 is a schematic cross-sectional view of the actuator;
FIG. 5 is a bottom schematic view of the rotating assembly;
FIG. 6 is a schematic structural view of a rotating assembly;
FIG. 7 is a rear side angle schematic of the operating assembly;
FIG. 8 is a schematic structural view of the floating operating head and part of the telescoping assembly;
fig. 9 is a cross-sectional structural schematic view of the floating operating head and telescoping assembly.
The meaning of the reference symbols in the figures:
1-lifting calibration ring, 2-lifting gear bracket, 3-lifting driving gear, 4-lifting proximity switch, 5-brake, 6-operating cylinder shell, 7-depth camera, 8-telescopic proximity switch, 9-telescopic driving motor, 10-base frame body, 11-guide rod, 12-transverse plate, 13-bracket, 14-lifting screw rod, 15-lifting large gear, 16-rotary driving motor, 17-slip ring, 18-ground knife floating head, 19-ground knife pressing plate, 20-fixing base, 21-middle table frame body, 22-rotary gear fixing base, 23-rotary brake, 24-rotary gear, 25-ball spline, 26-lifting motor, 27-rotary proximity switch, 28-rotary large gear, 29-pin, 30-translational proximity switch, 31-guide rail, 32-driving motor, 33-coupler, 34-linear slider, 35-base screw rod, 36-base screw rod nut, 37-endoscope, 38-external spline, 39-internal spline, 40-operation barrel screw rod, 41-operation barrel screw rod nut, 42-flat key, 43-torque motor, 44-encoder, 45-synchronous pulley, 46-synchronous belt, 47-harmonic reducer, 48-torque sensor, 49-pressure plate positioning rod, 50-pressure plate guide rod, 51-motor mounting rack, 52-limit stopper, 53-limit block, 54-proximity switch calibration rack and 55-elastic component.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention is further elucidated with reference to the drawings and the embodiments.
In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application.
In order to solve the problems of the prior art, the application provides a multi-motor driven 4-degree-of-freedom movement electric cabinet grounding disconnecting link operating mechanism which can be used on an operation type robot. Specifically, the relevant mechanisms are respectively: the base translation subassembly, lifting unit, rotating assembly, flexible subassembly and unsteady operating head.
The whole mechanism adjusts the mechanism to a proper initial position through rotation, translation and lifting, then the ground knife pressing plate 19 presses down to open the cover plate, the elastic operating rod extends out to enable the ground knife floating head 18 to be connected with the ground knife or a handcart operating head, force is applied through the torque motor 43 after connection, and the floating head rotates to open the ground knife or the handcart.
As shown in figure 1, the base translation assembly, the lifting assembly and the rotating assembly of the whole mechanism are all used for moving the telescopic assembly and the operating assembly to a position close to the knife gate.
The operating assembly comprises a ground knife pressing plate 19 and a floating operating head, wherein the floating operating head is arranged on the lifting assembly in a manner of extending and contracting along the direction of operating the knife switch relative to the lifting assembly and realizing rotary operation for the knife switch.
The floating operation head includes an operation of opening the knife switch opening and rotating the floating operation head after inserting the floating operation head into the knife switch.
As a specific embodiment, the floating operating head is mainly completed by the mechanism shown in fig. 8 and 9, the ground knife operation is mainly performed by rotating the ground knife head, and the torque required for rotating the ground knife head is large, so the mechanism is designed to realize the rotation of the floating head.
An operating cylinder shell 6 and an elastic component 55 are further arranged in the operating assembly, and the elastic component 55 is arranged between the floating operating head and the operating cylinder shell 6, so that the floating operating head can realize telescopic motion along the direction of the operating knife switch. When the grounding disconnecting link is operated every time, along with the approach of the grounding disconnecting link operating mechanism to the grounding disconnecting link, the floating operating head is in contact with the cabinet surface where the grounding disconnecting link is located and extrudes the elastic component 55, when the grounding disconnecting link pressing plate 19 is in contact with the opening of the grounding disconnecting link, the grounding disconnecting link pressing plate 19 is driven to open the opening of the grounding disconnecting link through the descending of the lifting component, and after the opening of the grounding disconnecting link, the elastic component 55 in a compressed state can directly push the floating operating head into the disconnecting link.
As a specific example, the elastic member 55 is provided as a spring.
As a specific embodiment, the operating assembly comprises a torque motor 43 and a harmonic reducer 47, wherein the torque motor 43 is connected with the harmonic reducer 47 to further control the floating operating head to rotate.
The reduction mechanism in this embodiment employs a harmonic reducer 47, but may be replaced by another reduction mechanism, such as a planetary gear reducer, a worm gear reducer, a helical bevel gear reducer, or the like.
The output end of the torque motor 43 is connected with the input end of the harmonic reducer 47 through a screw, and the output end of the harmonic reducer 47 is connected with the input end of the torque sensor 48 through a screw.
As a specific embodiment, the operating assembly further comprises a torque sensor 48, the torque motor 43 is connected with a harmonic reducer 47, the output end of the harmonic reducer 47 is provided with the torque sensor 48, and the torque sensor 48 monitors the torque transmitted to the floating operating head by the torque motor 43 in the process of controlling the floating operating head to rotate in real time, so that the rotation motion of the floating operating head on the vertical plane is realized.
As a specific embodiment, the operation assembly further includes a telescopic assembly, the telescopic assembly includes a telescopic driving motor 9 and a feed screw nut mechanism, the feed screw nut mechanism includes an operation barrel feed screw 40 and an operation barrel feed screw nut 41, the telescopic driving motor 9 transmits the rotation speed and the torque to the operation barrel feed screw 40 through a transmission mechanism, and the operation barrel feed screw 40 rotates along with the motor to drive the floating operation head fixed with the operation barrel feed screw nut 41 in the feed screw nut mechanism to move along the axial direction of the operation barrel feed screw 40.
When the mechanism finishes the lifting, rotating and translating in place, the telescopic assembly performs telescopic motion and is designed into a telescopic structure, so that the length of the whole operating mechanism can be reduced, and when the ground knife is operated after the mechanism is in place, the robot does not need to be moved and the precision is higher.
As a specific example, the transmission mechanism for transmitting the rotation speed and the torque of the telescopic driving motor 9 to the operation cylinder screw 40 is configured to be in matching transmission of a gear and a toothed belt.
As a specific example, the telescoping assembly is accomplished primarily by the mechanism shown in fig. 7 and 8. Specifically, the transmission mechanism connected to the output shaft of the telescopic driving motor 9 is: synchronous pulley 45, synchronous pulley 45 is connected with another synchronous pulley 45 who is connected on operation section of thick bamboo lead screw 40 through the synchronous belt 46 transmission, and the tensioning cover is connected with synchronous pulley 45, and operation section of thick bamboo lead screw 40 is connected with synchronous pulley 45 through the tensioning cover equally, passes through synchronous belt 46 transmission between the synchronous pulley 45. The tensioning sleeve realizes the function of tightly connecting the synchronous belt wheel 45 with the operation cylinder screw rod 40, and realizes the synchronous rotation of the synchronous belt wheel 45 and the operation cylinder screw rod 40.
The telescopic driving motor 9 and the synchronous belt pulley 45 connected with the telescopic driving motor 9 are fixed on the mounting plate with four notches, the mounting plate is fixed on the middle rack body 21 through the notches by screws, when the screws are not screwed, the mounting plate can move up and down in the notches, threaded holes are formed in the side of the mounting plate, the lower part of the middle rack body 21 is propped by the screws with proper length, the tensioning degree of the belt pulley can be adjusted by adjusting the screws in the side of the mounting plate, and the mounting plate is locked after the adjustment is proper.
Similarly, the telescopic mechanism also needs to be calibrated firstly when moving, the telescopic calibration is realized by a telescopic proximity switch 8 arranged on the operating cylinder shell 6, the telescopic proximity switch 8 extends into the shell, and the calibration is completed when the internal spline 39 moves to trigger the telescopic proximity switch 8.
As a specific example, the operating assembly further comprises an elastic operating rod, to which the operating barrel lead screw nut 41 is coupled by a flat key 42; the floating operating head is arranged at the end part of the elastic operating rod.
As a specific example, the resilient lever includes internal splines 39 and external splines 38.
When the telescopic operation is performed, the telescopic driving motor 9 transmits the speed and the torque to the operation cylinder screw 40 through the transmission mechanism synchronous belt 46 and the synchronous belt pulley 45, the operation cylinder screw nut 41 is connected with the internal spline 39 through the flat key 42, and along with the rotation of the operation cylinder screw 40, the operation cylinder screw nut 41 moves along the axial direction of the operation cylinder screw 40, so that the telescopic motion of the operation cylinder is realized.
A floating operating head is provided at the end of the internal spline 39. The output of the torque sensor 48 is connected to the external spline 38 by a screw. The external spline 38 and the internal spline 39 are matched for use, so that a large load can be borne, a large torque is transmitted, the output end of the internal spline 39 is connected with the ground cutter floating head 18 through a hexagonal opening, so that the ground cutter floating head 18 cannot rotate relatively, therefore, the torque motor 43 drives the ground cutter floating head 18 to rotate, the ground cutter is opened, and the whole process is completed.
Here, the direction of rotation of the floating operating head is calibrated by the encoder 44. When the ground knife floating head 18 rotates, the whole mechanism rotates by 360 degrees.
The output end of the internal spline 39 is provided with an endoscope 37 for feedback of the position of the floating head 18 of the ground knife and the knife switch. In order to prevent the wire of the endoscope 37 from winding on the elastic operating rod and tearing off the wire of the endoscope 37 during operation during the rotation process of the floating head 18 of the ground knife, a sliding ring 17 is arranged, the sliding ring 17 is provided with an inner ring and an outer ring, the outer ring is fixed with the operating cylinder shell 6, the outer ring does not move during rotation, the inner ring rotates along with the rotation, an instrument wire harness is connected to the inner ring of the sliding ring 17 after coming out of the instrument, and the outer ring wire harness comes out from the rear side to be connected with a circuit board for data processing.
As a specific embodiment, the lifting assembly is mainly completed by the mechanism shown in fig. 1 and 6. The switch cabinet is different in type, the height of the position where the ground knife opening is located is different, meanwhile, the mechanism is not only required to be operated by the ground knife when being designed, the handcart operation of the switch cabinet is also within the functional range, and the mechanism is required to be adjustable in ascending and descending based on the requirement.
The main driving mode of the lifting assembly is realized by adopting a gear transmission mode, and the mode can realize more accurate control and must meet certain precision requirement as a unique motion mechanism in the vertical direction.
The lifting assembly comprises a lifting screw rod 14, a gear transmission pair and a lifting motor 26.
The lifting motor 26 is connected with the lifting driving gear 3 through a flat key 42, and the lifting driving gear 3 is meshed with the lifting large gear 15. The lifting large gear 15 is fixed with the ball spline 25 through a screw above, the ball spline 25 is fixed with the middle table frame body 21 through a screw, the ball spline 25 can realize that when the spline is internally rotated, the spline is externally fixed, the mechanism is enabled to realize up-down translation, and when the middle table lifting motor 26 is rotated, the ball spline 25 drives the mechanism to translate on the lifting screw rod 14 to complete lifting movement.
The whole lifting screw rod 14 penetrates through the center of the lifting large gear 15, the center of the middle rack body 21 and the center of the rotary large gear 28 from top to bottom. The bottom of the elevation screw bar 14 is connected to the fixing base 20 on the top surface of the base frame body 10 in a perpendicular position by a pin 29.
Before the operation of the lifting mechanism, the position calibration can be carried out in the lifting direction through the lifting proximity switch 4, the lifting proximity switch 4 is installed on the lifting gear support 2 above the lifting large gear 15, the lifting calibration ring 1 is installed on the uppermost part of the lifting screw rod 14, and when the lifting proximity switch 4 is triggered to complete the calibration when the lifting proximity switch moves upwards to the lifting calibration ring 1. In addition, a brake 5 is arranged on a motor shaft of the lifting motor 26, when the equipment is powered on, the brake 5 controls the operation assembly to lift along the lifting screw rod 14 under the control of the lifting motor 26, and when the equipment is powered off, the brake 5 locks the operation assembly to prevent the operation assembly from descending along the screw rod under the action of gravity.
The lifting assembly also comprises a rotating assembly, and the rotating assembly is used for controlling the lifting assembly and the operating assembly to rotate along a vertical axis which is vertical to the ground and is used as a rotating shaft.
As a specific example, the rotation mechanism is mainly completed by the mechanism shown in fig. 1/2/5/6. When the mechanism does not work, the operation assembly is parallel to the advancing direction of the robot, and when the mechanism works, the operation assembly rotates to a position vertical to the robot to complete operation action, so that the design is realized due to the limitation requirement of the whole width of the robot and the limitation of the robot operation power distribution room. When operating assembly does not stretch out, mechanism's length also need surpass the whole width of robot, if mechanism and robot keep the vertical condition always, when the robot patrols and examines and moves, passable minimum width can reduce greatly, and the probability of touching the barrier simultaneously can strengthen, and the difficulty that the robot was keeping away barrier algorithm design also can increase.
The rotating assembly comprises a gear transmission pair, a rotary driving motor 16, a mounting frame and a limiting block 53. The gear train pair includes a bull gear 28 and a bull gear 24. The output end of the rotary drive motor 16 is connected with a rotary gear 24, and the rotary gear 24 is meshed with a rotary bull gear 28.
Specifically, in the present embodiment, the large rotary gear 28 is a backlash eliminating gear formed by two gears, when engaged, one gear tooth of the double gears is engaged with the bearing surface of the adjacent gear tooth, and the other gear tooth of the double gears is engaged with the back surface of the adjacent gear tooth, so as to reduce the meshing gap between the two gears, the upper gear is provided with a lightening hole and a threaded hole, the lower gear is provided with a long slot, a screw penetrates through the long slot to fix the two gears, and the screw can be circumferentially adjusted through the lateral direction of the gear, so that the backlash eliminating effect is better.
The mounting bracket includes a motor mounting bracket 51 for mounting the rotary drive motor 16 and a rotary gear holder 22 for mounting the drive wheel. The rotary large gear 28 is connected with the middle table frame body 21 through a lower screw, the angle of the rotary large gear 28 is 128 degrees in the embodiment, the rotary large gear 28 is limited to rotate within a certain angle through a limit stop block 52 on the rotary gear fixing seat 22 and a limit block 53 on the rotary large gear 28 during rotation, the rotary large gear 28 cannot be disengaged from the rotary gear 24, the rotary driving motor 16 rotates to drive the whole mechanism to rotate around the lifting screw rod 14, the rotation angle is guaranteed through the depth camera 7 carried by the middle table, the operating mechanism is perpendicular to the cabinet surface of the switch cabinet after the rotary large gear 28 rotates, and subsequent operation can be completed smoothly.
Before the operation is started, the rotating mechanism also needs to be calibrated, when the rotating mechanism rotates, the axis of the rotary large gear 28 is connected with the lifting screw rod 14 through the ball spline 25, the rotary large gear 28 and the ball spline 25 are fixed through a bolt, so that the lifting screw rod 14 is fixed and the rotary large gear 28 is fixed, the rotating assembly rotates around the rotary gear, the proximity switch calibration frame 54 is installed on the rotary large gear 28, the rotary proximity switch 27 is installed on the middle table frame body 21, and the calibration is completed when the rotary proximity switch calibration frame 54 triggers the rotary proximity switch 27. A rotation brake 23 is mounted on a motor shaft of the rotation driving motor 16, and an inner shaft of the rotation brake 23 is rotatable only when power is applied, and this structure is to prevent the machine from being rotated freely when power is not applied.
As a specific embodiment, the base translation assembly is used as a translation mechanism and moves on the guide rail 31, as shown in fig. 1 and 3, the base translation assembly realizes the translation of the whole operating mechanism in the front-back direction of the robot, and when the robot completes the station building location and moves to the corresponding location, the robot does not move any more. After the whole operating mechanism finishes lifting and rotating, the robot is positioned by the depth camera 7, if a small error in the front-back direction exists between the position of the operating assembly and a preset position, the robot cannot meet the precision requirement when moving, and the base translation assembly finishes the position adjustment of the robot in the front-back direction.
The base translation assembly is composed of a base frame body 10, a driving motor 32, a translation proximity switch 30 and a ball screw pair, and specifically the ball screw pair comprises a coupler 33, a base screw 35 and a base screw nut 36. The base lead screw nut 36 is connected to the base frame 10 by a screw, and the base frame 10 is mounted on the linear slider 34 by a screw. When the base screw 35 rotates, the base screw nut 36 is fixed to the base frame 10, and does not rotate, but moves only in the direction along the base screw 35, thereby driving the whole mechanism to move on the guide rail 31.
Before base translation subassembly uses, need carry out the translation and mark, specifically by installing translation proximity switch 30 on base frame body 10 and realize, translation proximity switch 30 passes through the support to be fixed on base frame body 10, through the calibration thing on the installation mechanism of response base translation subassembly, when base translation subassembly moves near enough, triggers translation proximity switch 30 and accomplishes and mark.
In addition, two brackets 13 capable of popping up and retracting are arranged on the side of the base frame body 10, in order to improve the stability in the process of the robot operation, and the brackets 13 are fixed with the base frame body 10 through hinge pins with shoulders. The support 13 is popped up in two ways, one is that the support 13 is pulled out by hands to be placed. The other type is ejected through a spring, the support is pressed into the base frame body 10, the spring props against the support 13, the main support 13 is clamped by a transverse plate 12 to prevent the support from being ejected, the transverse plate 12 is connected with a guide rod 11 behind the base frame body 10, a large flange surface is arranged at the tail part of the guide rod 11, the spring props against the flange surface, and the support can be ejected by kicking the flange surface of the guide rod 11 when needed.
The mechanism that this application related to can carry on current robot basically, realizes full automatization's switch board earthing knife-switch relevant operation.
Before the operation begins, through the data of gathering when building the station before, the robot moves to the comparatively suitable position of the relative cabinet body, and gyration driving motor 16 drives the operation subassembly and rotates after that, with the floating head 18 rotation of ground sword to the position perpendicular with the switch board, this process is judged through depth camera 7 measured data. After the adjustment of the angle with the cabinet surface is completed, the depth camera 7 performs initial positioning, and the operation assembly is adjusted to the operation initial position according to the measurement data. The initial position of operation can typically be set to a distance of only a few centimeters from the face of the knife gate.
After reaching the operation position, the telescopic driving motor 9 acts, the floating operation head extends out, firstly, the floating head 18 of the ground knife contacts the cabinet surface firstly, then the spring is compressed, the floating head 18 of the ground knife is propped against the cabinet surface, and then, the floating head 19 of the ground knife stops extending out after being clung to the cabinet surface.
The lifting motor 26 drives the whole operation assembly to move downwards, drives the ground cutter pressing plate 19 to move downwards, pushes the opening of the ground cutter cover plate downwards, and opens the ground cutter cover plate. After the ground knife edge is exposed, as the whole operation assembly moves downwards, the floating head 18 of the ground knife can be directly bounced into the ground knife edge under the reaction force of the spring, the concentric circle of the sleeve and the ground knife edge is calculated through the endoscope 37, the position of the floating head is adjusted after calculation, the whole floating head is rotated until the floating head 18 of the ground knife is inserted into the ground knife edge of the power distribution cabinet by controlling the torque motor 43, the floating head 18 of the ground knife observes the grounding knife switch through the endoscope 37, the floating head 18 of the ground knife and the knife switch are adjusted to be in a proper angle to be inserted, the operation assembly continuously extends out to enable the floating head to be inserted in place, the floating head is rotated through the torque motor 43, the grounding knife switch is rotated, the relevant operation of the grounding knife switch of the power distribution cabinet is completed, the full-range automatic operation is realized, and. After the operation is finished, the operation mechanism can be rapidly drawn out by directly acting the telescopic driving motor 9.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.
Claims (29)
1. The grounding switch operating mechanism comprises a base assembly, a lifting assembly and an operating assembly, and is characterized in that the operating assembly comprises a grounding knife pressing plate and a floating operating head; the ground knife pressing plate is fixed on the lifting assembly; the floating operating head can stretch out and draw back along the direction of the operating knife switch by relative to the lifting component, and is arranged on the lifting component in a mode of realizing rotary operation to the knife switch.
2. The grounding switch operating mechanism of claim 1,
the operating assembly further comprises an operating cylinder shell and an elastic component, wherein the elastic component is arranged between the floating operating head and the operating cylinder shell, so that the floating operating head can realize telescopic motion along the direction of the operating knife switch.
3. The grounding switch operating mechanism of claim 1,
the operating assembly further comprises a motor and a speed reducing mechanism, and the motor controls the rotating operation of the floating operating head through the speed reducing mechanism.
4. The grounding switch operating mechanism of claim 3,
the speed reducing mechanism is a harmonic speed reducer.
5. The grounding switch operating mechanism of claim 3,
the operating assembly further comprises a torque sensor disposed at an output end of the speed reducing mechanism.
6. The earthing switch operating mechanism according to claim 1, 2, 3 or 5, characterized in that said operating assembly further comprises a telescopic assembly; the telescopic assembly comprises a telescopic driving motor and a screw rod nut mechanism; the floating operating head is fixed with a nut in the feed screw nut mechanism; the telescopic driving motor controls a screw rod in the screw rod nut mechanism to rotate so as to realize the axial telescopic motion of the floating operating head and a nut in the screw rod nut along the screw rod in the screw rod nut mechanism.
7. The grounding switch operating mechanism of claim 6,
the device also comprises an elastic operating rod; a nut in the feed screw nut mechanism is connected with the elastic operating rod through a flat key; the floating operating head is arranged at the end part of the elastic operating rod.
8. The grounding switch operating mechanism of claim 7,
the elastic operating rod comprises an inner spline and an outer spline; the internal spline is connected with a nut in the feed screw nut mechanism through a flat key; the floating operating head is arranged at the end part of the internal spline; the end of the external spline is connected with the torque sensor.
9. The grounding switch operating mechanism of claim 6,
a transmission mechanism is also arranged between the telescopic driving motor and the screw rod nut mechanism; and the transmission mechanism transmits the rotating speed and the torque of the telescopic driving motor to a screw rod in the screw rod nut mechanism.
10. The grounding switch operating mechanism of claim 9,
the transmission mechanism is set to be in matched transmission of a gear and a toothed belt.
11. The grounding switch operating mechanism of claim 7,
the output end of the elastic operating rod is provided with an endoscope which is used for feeding back the positions of the floating operating head and the disconnecting link.
12. The grounding switch operating mechanism of claim 7,
the ground knife is characterized by further comprising a pressing plate support, the pressing plate support is arranged on the elastic operating rod through a bearing, and the ground knife pressing plate is arranged on the pressing plate support.
13. The ground switch operating mechanism of claim 12, further comprising a clamp plate guide assembly for guiding the ground switch clamp plate and the floating operating head during telescoping.
14. The earthing switch operating mechanism according to claim 13, wherein the pressing plate guiding assembly includes a guiding rod and a guiding groove, the guiding rod is fixedly connected with the earthing switch pressing plate, the guiding groove is disposed on the operating cylinder housing, and the guiding rod and the guiding groove cooperate to guide.
15. The ground switch operating mechanism of claim 11, further comprising a slip ring on the flexible operating rod for routing lines of the endoscope.
16. The earthing switch operating mechanism according to claim 1, 7 or 9, wherein the lifting assembly comprises a lifting screw and a lifting transmission mechanism; the lifting screw rod is vertically arranged; the lifting transmission mechanism is respectively connected with the lifting screw rod and the operation assembly, and controls the operation assembly to move along the opening and closing direction of the knife gate.
17. The earthing switch operating mechanism according to claim 16, wherein the lifting transmission mechanism comprises a lifting motor and a gear transmission pair, the gear transmission pair comprises a driving wheel and a lifting gearwheel which are engaged with each other, the driving wheel is connected with the output end of the lifting motor through a flat key, and the lifting gearwheel is connected with the lifting screw rod through a ball spline; the output end of the lifting motor is connected with the driving wheel through a flat key, and the driving operation assembly is driven to move up and down along the lifting screw rod.
18. The earthing switch operating mechanism according to claim 17, wherein the lifting screw rod is provided with a lifting calibration ring at its top end; a lifting proximity switch is arranged at the top of the lifting large gear; the lifting calibration ring is used as a calibration object of the lifting proximity switch.
19. The earthing switch operating mechanism according to claim 17, wherein a brake is disposed on the lifting motor, when the device is powered on, the brake controls the operating assembly to lift along the lifting screw under the control of the lifting motor, and when the device is powered off, the brake locks the operating assembly to prevent the operating assembly from falling along the screw under the action of gravity.
20. The earthing switch operating mechanism according to claim 16, wherein a middle stand body is provided on the lifting screw, and the middle stand body is used for connecting the lifting assembly and the operating assembly; the middle rack body is connected with the lifting screw rod through a ball spline.
21. The earthing switch operating mechanism according to claim 6, wherein a depth camera is provided on the operating barrel housing for feeding back position information of the telescopic assembly.
22. The earthing switch operating mechanism according to claim 1, 7 or 9, wherein the lifting assembly further comprises a rotating assembly for controlling the rotation of the lifting assembly and the operating assembly along a vertical axis perpendicular to the ground as a rotating shaft.
23. The earthing switch operating mechanism according to claim 20 or 22, wherein the rotating assembly employs a rotary drive motor and a gear transmission pair, the gear transmission pair comprising a rotary gear and a rotary bull gear engaged with each other; the rotary large gear is fixedly connected with the middle rack body through a bolt; the axle center of the rotary big gear wheel is connected with the lifting screw rod through a spline, and the rotary big gear wheel and the spline are fixed through a bolt.
24. The earthing switch operating mechanism according to claim 22, wherein said rotating assembly further comprises a mounting bracket including a motor mounting bracket for mounting a rotary drive motor and a rotary gear fixing bracket for mounting a rotary gear.
25. The earthing switch operating mechanism according to claim 24, wherein a limit stop is provided at the bottom of said rotary gear fixing base; and limiting blocks are arranged on two sides of the rotary big gear and matched with the limiting stop blocks for limiting the rotation angles of the two sides of the rotary big gear.
26. The earthing switch operating mechanism according to claim 25, wherein said rotary bull gear is a double gear structure to form an anti-backlash gear; and in the rotating process of the anti-backlash gear, the limit stop is used for limiting the rotating angle of the anti-backlash gear.
27. The ground switch operating mechanism of claim 1, further comprising a base translation assembly comprising a base frame body, a translation transmission mechanism, and a drive motor; the translation transmission mechanism is used for controlling the translation motion of the base frame body; and the output end of the driving motor is connected with the input end of the translation transmission mechanism.
28. The ground disconnecting link operating mechanism according to claim 27, wherein the translation transmission mechanism employs a ball screw pair, the ball screw pair being located at a bottom of the base frame body for controlling movement of the base frame body; and the output end of the driving motor is connected with the input end of the ball screw pair through a coupler.
29. The grounding switch operating mechanism of claim 2,
the elastic component adopts a spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011414904.0A CN112490057B (en) | 2020-12-04 | 2020-12-04 | Earthing knife-switch operating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011414904.0A CN112490057B (en) | 2020-12-04 | 2020-12-04 | Earthing knife-switch operating mechanism |
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| CN112490057A true CN112490057A (en) | 2021-03-12 |
| CN112490057B CN112490057B (en) | 2022-06-03 |
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| CN113327803A (en) * | 2021-05-31 | 2021-08-31 | 亿嘉和科技股份有限公司 | Switch cabinet grounding knife switch operating mechanism |
| CN114221302A (en) * | 2021-12-08 | 2022-03-22 | 聊城市鲁西化工工程设计有限责任公司 | Automatic operation system and method for power distribution cabinet |
| CN117506964A (en) * | 2024-01-08 | 2024-02-06 | 江苏骠马智能工业设计研究有限公司 | Split type ground knife structure of operation robot for power distribution cabinet |
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| CN117506964B (en) * | 2024-01-08 | 2024-03-22 | 江苏骠马智能工业设计研究有限公司 | Split type ground knife structure of operation robot for power distribution cabinet |
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|---|---|
| CN112490057B (en) | 2022-06-03 |
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